jesseopdenbrouw/riscv-rv32

A synthesizable RISC-V RV32IM microcontroller written in VHDL

riscv-rv32

⚠️ This design is obsolete. Please see https://github.com/jesseopdenbrouw/thuas-riscv.

A RISC-V 32-bit microcontroller written in VHDL targeted for an FPGA.

Description

The RISC-V microcontroller uses the RV32IM instruction set and the Zicsr and Zicntr extensions. The microcontroller supports exceptions and interrupts. ECALL, EBREAK and MRET are supported. WFI, FENCE and FENCE.I act as no-operation (NOP). Currently only machine mode is supported. We successfully tested a complex program with interrupts and exceptions and implemented a basic syscall library, both with the ECALL instruction and C functions overriding the C library functions. sbrk, read, write, times and gettimeofday are supported. The External (system) Timer is implemented and generates an interrupt if time >= timecmp. The processor can handle up to 16 fast local interrupts. Reads from ROM, RAM and I/O require 2 clock cycles. Writes require 1 clock cycle. Multiplications require 3 clock cycles, divisions require 18 clock cycles, CSR accesses take 1 clock cycle. Jumps/calls/branches taken require 3 clock cycles, the processor does not implement branch prediction. All other instructions require 1 clock cycle. Interrupts are direct or vectored. Current Coremark testbench shows a CPI of 1.53 and a score of 2.22 coremark/MHz.

Software is written in C, (C++ is supported but there are some limitations) and compiled using the RISC-V GNU C/C++ compiler.

Current flavor

The design is equipped with a bootloader program and registers in onboard RAM. The bootloader can be removed from synthesis. The registers can be placed in logic cells. The design runs at a speed of approximately 75 MHz.

Memory

The microcontroller uses FPGA onboard RAM blocks to emulate RAM and program ROM. There is no support for external RAM. Programs are compiled with the GNU C compiler for RISC-V and the resulting executable is transformed to a VHDL synthesizable ROM table.

• ROM: a ROM of 64 kB is available (placed in onboard RAM, may be extended).
• BOOT: a bootloader ROM of 4 kB (placed in onboard RAM).
• RAM: a RAM of 32 kB using onboard RAM block available (may be extended).
• I/O: a simple 32-bit input and 32-bit output is available, as is a simple 7/8/9-bit UART with interrupt capabilities. Two SPI devices are available, with one device used for SD card socket (no interrupt) and a general purpose SPI device with hardware NSS. One I2C device is available. A simple timer with interrupt is provided. A more elaborate timer is included and can generate waveforms (Output Compare and PWM). The External (system) Timer is located in the I/O so it's memory mapped.

ROM starts at 0x00000000, BOOT (if available) starts at 0x10000000, RAM starts at 0x20000000, I/O starts at 0xF0000000. May be changed on 256 MB (top 4 bits) sections.

The microcontroller does not support caches and external memory.

CSR

A number CSR registers are implemented: [m]time, [m]timeh, [m]cycle, [m]cycleh, [m]instret, [m]instreth, mvendorid, marchid, mimpid, mhartid, mstatus, mstatush, misa, mie, mtvec, mscratch, mepc, mcause, mip, mcountinhibit. Some of these CSRs are hardwired. Others will be implemented when needed. The time and timeh CSRs produces the time since reset in microseconds, shadowed from the External Timer memory mapped registers. Also two custom CSRs are implemented: mxhw which holds information of included peripherals and mxspeed which contains the synthesized clock speed.

FPGA

The microcontroller is developed on a Cyclone V FPGA (5CEBA4F23C7) with the use of the DE0-CV board by Terasic and Intel Quartus Prime Lite 22.0. Simulation is possible with QuestaSim Intel Starter Edition. You need a (free) license for that. The processor uses about 2800 ALM (cells) of 18480, depending on the settings. In the default settings, ROM, BOOT, RAM and registers uses 43% of the available RAM blocks.

Software

A number of C programs have been tested, created by the GNU C/C++ Compiler for RISC-V. We tested the use of (software) floating point operations (both float and double) and tested the mathematical library (sin, cos, et al.). Traps (interrupts and exceptions) are tested and work. Assembler programs can be compiled by the C/C++ compiler. We provide a CRT (C startup) and linker file. C++ is supported but many language concepts (e.g. cout with iostream) create a binary that is too big to fit in the ROM.

We provide a basic set of systems call, trapped (ECALL) and non-trapped (functions overriding the C library functions). Trapped system calls are by default set up by the RISC-V C/C++ compiler, so no extra handling is needed.

Bootloader

By default, the design is equipped with a bootloader. When resetting the FPGA, the bootloader waits about 5 seconds before the program in the ROM is started. Using the bootloader, a program can written to the ROM (see the documentation). The bootloader can also be used to inspect the memory contents.

Plans (or not) and issues

• We are not planning the C standard.
• Implement clock stretching and arbitration in the I2C1 peripheral.
• Adding input synchronization for SPI1/SPI2 peripherals.
• Implement an I/O input/output multiplexer for GPIOA PIN and POUT. This will enable I/O functions to be multiplexed with normal port I/O.
• Smaller (in cells) divide unit.
• Test more functions of the standard and mathematical libraries.
• It is not possible to print long long (i.e. 64-bit) using printf et al. When using the format specifier %lld, printf just prints ld. This due to lack of support in the nano library.
• Further optimize the ALU for size and speed.
• The time (TIMEH:TIME) registers are currently read only, but should be writable. We are considering this as an option.
• Move CSR and LIC into the core.
• Port of the processor to a Digilent Arty-S7/50 is in progress.
• In the current version, mepc must be incremented by 4 in software to skip the instruction at the offending exception. This is in line with most designs.
• To start the pre-programmed bootloader, make sure the UART1 RxD pin is connected to a serial device OR make sure this pin is pulled high.

Disclaimer

This microcontroller is for educational purposes only. Work in progress. Things might change. Use with care.